Mechanical and electrical design of a four-wheel-drive, four-wheel-steer mobile manipulator with PA-10 arm

Guerol B., Dal M., Yeşiloğlu S. M., Temeltaş H.

IEEE International Electric Machines and Drives Conference (IEMDC 2007), Antalya, Turkey, 3 - 05 May 2007, pp.1777-1778 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iemdc.2007.383699
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.1777-1778
  • Istanbul Technical University Affiliated: Yes


This paper summarizes mechanical and electrical design of a unique mobile manipulator. Mechanical design is based on the idea of increasing capabilities of Mitsubishi PA-10 robot arm effectively and safely. A large number of sensors in different types and the mechanical design of the steering of each wheel require a reliable design and implementation of power and control systems capable of handling any induced dynamical loads. Mobile platform has been realized in the tight of such design criteria and the details of this process is explained in this paper.